Delay management for geospatial crop yield mapping

ABSTRACT

Systems and methods for geospatial yield mapping by managing and modeling a system-based delay between crop location and crop sensing. The system stores a plurality of yield rate values indicative of crop yield detected by a sensor and a plurality of geospatial location values as time sequence data sets. The system then maps a yield rate value to a geospatial location value by determining an offset indicative of a total delay time from when the crop is cut from the field to when the crop is detected by the yield sensor. In some implementations, the delay value is determined as an integer multiple of a defined sampling frequency and is determined as a sum of a plurality of delay component values each indicative of a portion of the total delay time associated with a different one of a plurality of component systems of the crop harvester.

BACKGROUND

The present invention relates to systems and methods for tracking cropyield while harvesting. More specifically, at least some of the systemsand methods described herein relate to systems that are used to trackcrop yield by geospatial location.

SUMMARY

In one embodiment, the invention provides a method of correcting acorrelation between a geospatial location of a crop harvester and adetermined yield rate value. A sequence of delay values is determined(for example, by an electronic processor). Each delay value of thesequence of delay values is indicative of a total time delay from a timethat a crop is cut from a field as the harvester moves across the fieldto a time that the crop reaches the field of view of a yield monitoringsensor. Each delay value in the sequence of delay values is determinedby determining one or more static delay components, determining one ormore dynamic delay components, and determining the total delay timebased at least in part on the static and dynamic delay components (e.g.,by summing the individual delay components). The static delay componentsare indicative of portions of the total time delay that are constant orthat can be determined based on instantaneous measured outputs of one ormore sensors (e.g., current operating conditions of the harvester). Thedynamic delay components are indicative of portions of the total timedelay that are dependent on historical operating conditions of one ormore components of the harvester. Based on a determined delay value ofthe sequence of determined delay values, a determined crop yield valueis correlated to a determined geospatial location. The crop yield valueis selected from a first stored data set indicative of a plurality ofdetermined crop yield values (each at a different time) and thegeospatial location is selected from a second stored data set indicativeof a plurality of determined geospatial locations (each at a differenttime).

In another embodiment, the invention provides a geospatial mappingsystem for a sugar cane harvester. The sugar cane harvester includes achopper positioned at the front end of the sugar cane harvester, abuffer basket configured to receive chopped sugar cane crop from thechopper, and an elevator configured to convey the chopped sugar canecrop from the buffer basket to a collection vessel. The mapping systemincludes a positioning system, a yield monitoring sensor, and anelectronic controller. The yield monitoring sensor is positioned with afield of view that includes at least a portion of the elevator and isconfigured to generate an output indicative of an amount of choppedsugar cane crop conveyed on the elevator. The electronic controller isconfigured to periodically determine a geospatial location of the sugarcane harvester based on the output of the positioning system at a firstsampling frequency and to store to a memory a first sequential data setincluding a plurality of determined geospatial locations at eachsampling period of the first sampling frequency. The controller is alsoconfigured to periodically determine a sugar cane output value based onthe output of the yield monitoring sensor at a second sampling frequencyand to store to the memory a second sequential data set including aplurality of determined sugar cane output values at each sampling periodof the second sampling frequency. The controller is further configuredto determine a sequence of delay values each indicative of a total timedelay from a time that the sugar cane crop is cut from the field to atime that the sugar cane crop reaches the field of view of the yieldmonitoring sensor. The system is configured to correlate one or moredetermined sugar cane output values of the plurality of determined sugarcane output values each to a different one of the plurality ofdetermined geospatial locations based on the sequence of determineddelay values.

In some embodiments, the total delay time is determined based at leastin part on one or more determined static delay components and one ormore determined dynamic delay components. The static delay componentsare indicative of portions of the total time delay that are constant orthat can be determined based on instantaneous measured outputs of one ormore sensors. The dynamic delay components are indicative of portions ofthe total time delay that are dependent on historical operatingconditions of one or more components of the sugar cane harvester. Forexample, one static delay component includes a chopper delay indicativeof a time delay from the time that the sugar cane crop is cut to a timethat the sugar cane crop reaches the buffer basket. An example of adynamic delay component includes a buffer basket delay indicative of atime delay form the time that the sugar cane crop reaches the bufferbasket to a time that the sugar cane crop is removed from the bufferbasket by the elevator—the controller is configured to determine thebuffer basket delay based at least in part on a current operating stateof the elevator and a previous operating state of the elevator.

In yet another embodiment, the invention provides a method of correctinga correlation between a geospatial location of a crop harvester and adetermined yield rate value. A delay value is determined (for example,by an electronic processor) that is indicative of a total delay timefrom a first time to a second time—the first time being when a crop iscut from a field by the crop harvester as the crop harvester moves alonga surface of the field and the second time being when the cut cropreaches a yield monitoring sensor. The delay value is determined as aninteger multiple and is determined as a sum of a plurality of delaycomponent values each indicative of a portion of the total delay timeassociated with a different one of a plurality of component systems ofthe crop harvester. At least one delay component value of the pluralityof delay component values is calculated based on a sensed operatingcondition of the crop harvester. A first yield rate value is thencorrelated with a geospatial location on the field based at least inpart on the determined delay value as an integer offset. The first yieldrate value that is correlated with the geospatial location is selectedfrom a sequential data set of yield rate values that have each beenperiodically determined based on an output from the yield monitoringsensor at each of a plurality of sampling interval times according to adefined sampling frequency.

In some such embodiments, the method further includes comprisingdetermining, by the electronic processor, a plurality of delay values atthe defined sampling rate based at last in part on one or more sensedoperating conditions of the crop harvester at each sampling intervaltime according to the defined sampling rate, and wherein correlating thefirst yield rate value with the geospatial location includes identifyinga sampling interval time of the plurality of sampling interval timescorresponding to the first yield rate value, identifying a firstgeospatial location from a second sequential data set corresponding tothe first sampling interval time, wherein the second sequential data setincludes a plurality of geospatial locations of the crop harvesterdetermined at each sampling interval time according to the definedsampling frequency, identifying a second geospatial location from thesecond sequential data set that is offset from the first geospatiallocation in the second sequential data set by the integer offset definedby the delay value for the first sampling interval time, and updating astored yield map identifying the first yield rate value as a yield ratevalue for the second geospatial location.

In some such embodiments, the crop harvester includes an elevatorconfigured to convey the crop to a collection vessel, the yieldmonitoring sensor is configured to detect measure an amount of croppassing a location on the elevator, and the plurality of delay componentvalues includes an elevator delay component indicative of an amount oftime that the crop is moving on the elevator before it is sensed by theyield monitor sensor. The elevator delay component is then determinedbased at least in part on a current speed of the elevator.

In some such embodiments, the crop harvester includes a buffer basketconfigured to receive material collected by the crop harvest and anelevator configured to convey the crop from the buffer basket to acollection vessel. The plurality of delay component values includes abuffer basket delay component indicative of an amount of time that thecrop is held in the buffer basket before being removed from the bufferbasket by the elevator and the buffer basket delay component isdetermined based at least in part on a current operating state of theelevator and a previous operating state of the elevator. In someembodiments, the buffer basket delay component is determined also basedat least in part on a current speed of the elevator and/or an estimatedmass flow rate. The estimated mass flow rate is indicative of the rateat which material is entering the buffer basket and is determined basedat least in part on a sensed ground speed of the crop harvester.

In still another embodiment, the invention provides a geospatial yieldmapping system for a crop harvester. The system stores a plurality ofyield rate values as a sequential data set by periodically determining ayield rate value at each sampling interval time of a plurality ofsampling interval times according to a defined sampling frequency. Thesystem includes an electronic processor configured to determine theyield rate based on an output of a yield monitoring sensor at eachsampling interval time. The system is also configured to determine adelay value indicative of a total delay time from a first time (when thecrop is cut from the field by the crop harvester) to a second time (whenthe same crop moves through the mechanisms of the crop harvester andreaches the yield monitoring sensor). The delay value is determined asan integer multiple of the defined sampling frequency and is determinedas a sum of a plurality of delay component values each indicative of aportion of the total delay time associated with a different one of aplurality of component systems of the crop harvester. At least one delaycomponent value of the plurality of delay component values is calculatedbased on a sensed operating condition of the crop harvester. The systemthen correlates a first yield rate value from the sequential data set ofyield rate values with a geospatial location on the field based at leastin part on the determined delay value as an integer offset.

In some such embodiments, the electronic controller is furtherconfigured to determine a plurality of delay values at the definedsampling rate based at least in part on one or more sensed operatingconditions of the crop harvester at each sampling interval timeaccording to the defined sampling rate; and store a plurality ofgeospatial locations as a second sequential data set by periodicallydetermining a geospatial location of the crop harvester at each samplinginterval time according to the defined sampling frequency. Theelectronic controller is also configured to correlate the first yieldrate value with a geospatial location by identifying a sampling intervaltime of the plurality of sampling interval times corresponding to thefirst yield rate value, identifying a first geospatial location from thesecond sequential data set corresponding to a first sampling intervaltime, identifying a second geospatial location from the secondsequential data set that is offset from the first geospatial location inthe second sequential data set by the integer offset defined by thedelay value for the first sampling interval time, and storing a yieldmap identifying the first yield rate value as a yield rate value for thesecond geospatial location.

In some such embodiments, the crop harvester includes an elevatorconfigured to convey the crop to a collection vessel, and the yieldmonitoring sensor is configured to measure an amount of crop passing alocation on the elevator. The plurality of delay component valuesincludes an elevator delay component indicative of an amount of timethat the crop is moving on the elevator before it is sensed by the yieldmonitor sensor. The electronic controller is further configured todetermine the elevator delay component based at least in part on acurrent speed of the elevator.

In some such embodiments, the crop harvester includes a buffer basketconfigured to receive material collected by the crop harvest and anelevator configured to convey the crop from the buffer basket to acollection vessel. The plurality of delay component values includes abuffer basket delay component indicative of an amount of time that thecrop is held in the buffer basket before being removed from the bufferbasket by the elevator. The electronic controller is further configuredto determine the buffer basket delay component based at least in part ona current operating state of the elevator and a previous operating stateof the elevator. In some embodiments, the electronic controller isconfigured to determine the buffer basket delay component based at leastin part on a current speed of the elevator and/or an estimated mass flowrate. The estimated mass flow rate is an estimated amount of materialentering the buffer basket and, in some embodiments, is determined bythe electronic controller based at least in part on a sensed groundspeed of the crop harvester. In some such embodiments, the electroniccontroller is further configured to store a plurality of estimated massflow rates as a sequential data set by periodically determining anestimated mass flow rate of material entering the buffer basket at eachsampling interval time of the plurality of sampling interval timesaccording to the defined sampling frequency. The electronic controlleris configured to determine the estimated mass flow rate at each samplinginterval time based on a sensed ground speed of the crop harvester atthat sampling interval time, and is configured to determine the bufferbasket delay component based at least in part on a plurality ofestimated mass flow rates from the sequential data set.

In some such embodiments, the crop harvester includes a chopperpositioned at a front end of the crop harvester configured to cut thecrop from the field as the crop harvester moves along the surface of thefield and to chop the cut crop, and the plurality of delay componentvalues includes a chopper delay component indicative of an amount oftime from when the crop is cut from the field to when the crop exits thechopper. In some embodiments, the electronic controller is furtherconfigured to calculate the chopper delay component based at least inpart on a sensed ground speed of the crop harvester. In someembodiments, the electronic controller is further configured todetermine an estimated mass flow rate of material exiting the chopper;and calculate the chopper delay component based at least in part on theestimated mass flow rate. In some embodiments, the electronic controlleris configured to determine the estimated mass flow rate based at leastin part on a ground speed of the crop harvester and a sensed chopperpressure indicative of at least one selected from a group consisting ofa pressure resistance of the chopper while cutting the crop from thefield and a pressure resistance of the chopper while chopping the cutcrop.

In some such embodiments, the plurality of delay component valuesincludes at least one static delay component and at least one dynamicdelay component, wherein the electronic controller is further configuredto calculate the at least one dynamic delay component based at least inpart on a current value of a sensed operating condition of the cropharvester and at least one previously value of the sensed operatingcondition. In some embodiments, the at least one static delay componentis constant. In some embodiments, the electronic controller is furtherconfigured to calculate the at least one static delay component based ona current value of a sensed operating condition of the crop harvesterand not based on historical values of any sensed operating conditions.

Other aspects of the invention will become apparent by consideration ofthe detailed description and accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic diagram of sugar cane moving through a sugar caneharvester according to one embodiment.

FIG. 2 is a block diagram of a control system for geospatial yieldmapping of sugar cane crop collected by the sugar cane harvester of FIG.1.

FIG. 3 is a flowchart of a method for mapping sugar cane yield togeospatial locations using the control system of FIG. 2.

FIG. 4 is a schematic flowchart of a mechanism for correlating sugarcane yield values to geospatial locations using pointer management.

FIG. 5 is a flowchart of a method for determining an aggregate delayvalue for mapping sugar cane yield to geospatial location in the methodof FIG. 3.

DETAILED DESCRIPTION

Before any embodiments of the invention are explained in detail, it isto be understood that the invention is not limited in its application tothe details of construction and the arrangement of components set forthin the following description or illustrated in the following drawings.The invention is capable of other embodiments and of being practiced orof being carried out in various ways.

Machine equipment such as a combine harvester are used to collect cropsgrowing in a field and, in some cases, to perform some initialprocessing of the collected crop as it passes through the variouscomponent systems of the machine. FIG. 1 illustrates an example of thevarious component systems of a sugar cane harvester 101 through whichsugar cane crop passes as it is collected from the field. The sugar caneharvester 101 is operated as a vehicle moving along a surface of a fieldin which sugar cane crop 103 is growing. A first component system of thesugar cane harvester 101 is a base cutter and chopper (collectivelyreferred to in FIG. 1 by reference numeral (1)) positioned at a frontend of the sugar cane harvester 101. Together, the base cutter andchopper (1) cuts the crop in front of the sugar cane harvester 101,pulls the cut crop into the machine, and chops the cut crop intosegments of approximately equal length. After passing through thechopper (1), the resulting mix of sugar cane billets, leaf fragments,soil particles, root balls, and other components enters an intermediateholding vessel referred to herein as a “buffer basket” (2). An elevator103 draws material from the buffer basket (2) and conveys it to the topof the elevator 105 where it is deposited into a collection vessel(e.g., a tractor and wagon travelling alongside the sugar cane harvester101.

In the example of FIG. 1, the elevator 105 can be actuated independentof the other harvest functions of the sugar cane harvester 101. In somesituations, the elevator 105 can be temporarily slowed or stopped untilthe buffer basket (2) is entirely filled (e.g., for up to 30 seconds).In some implementations, the speed of the elevator 105 is notnecessarily synchronized with the groundspeed of the sugar caneharvester 101. In some implementations, the speed of the elevator 105and the operating state of the elevator (i.e., whether the elevator iscurrently turned on or off) is controlled manually by an operator of thesugar cane harvester 101.

Positioned near the top of the elevator 105 in the example of FIG. 1 isa stereo camera system configured to operate as a yield monitoringsensor (3). Although the yield monitoring sensor (3) in the example ofFIG. 1 is described as a camera system, other types of yield monitoringsensor may be used in other implementations in addition to or instead ofa camera-based yield monitoring sensor. For example, a yield monitoringsensor (3) in some implementations might be configured to measure adeflection or tension of the elevator belt using strain gauges.Alternatively, the yield monitoring sensor (3) may be configured tomeasure a motor torque or current of the motor driving the elevator beltas a proxy for mass with respect to a gravity vector. In still otherimplementations, a yield monitoring sensor (3) may be adapted to rely onelements in the front of the machine including, for example, feed rolldisplacement or a forward-looking camera positioned & configured tomonitor crop standing in front of the machine and to estimate yieldbased on images of the crop before it is cut and chopped.

Returning now to the example of FIG. 1, the stereo camera of the yieldmonitoring sensor (3) is positioned above the elevator 105 facingdownward with a field of view that includes at least a portion of thesurface of the elevator conveyor. The yield monitoring sensor (3) mayalso include an artificial light source (e.g., for night operation). Theyield monitoring sensor (3) captures image data that is processed toprovide volumetric estimations of amounts of crop passing by on theelevator along with image classification data to estimate additionalmetrics such as, for example, leaf trash content, billet content, andother components (e.g., root balls, etc.). The output of the yieldmonitoring sensor (3) can be used to determine an absolute amount ofcrop passing along the elevator 105 over a period of time and/or, insome implementations, to estimate a crop yield rate corresponding to aparticular time period.

Because crop growth in a field is not always uniform, the crop yieldrate detected by the yield monitoring sensor (3) can vary as the sugarcane is harvested. To enable the use of data for documentation,agronomics, and other purposes, yield monitoring systems may beconfigured to accurately track a true location from which harvested croporiginated. In other words, systems may be configured to map relative orabsolute amounts of crop yield (or rates of crop yield) to differentgeospatial locations within the same field based on the output of theyield monitoring sensor (3). Proper geospatial yield mapping enables afarmer to adjust practices to environmental and soil properties and toultimately help an operation to be more profitable by adopting effectivelocation-specific Ag-management practices.

However, although the yield monitoring sensor (3) is able to usecaptured image data for relatively accurate determinations of cropyield, the yield monitoring sensor (3) is not able to measure crop yieldimmediately as the crop is cut from the field. As illustrated in FIG. 1,the crop must pass through various different component systems of thesugar cane harvester after it is cut from the field before it is reachesthe field of view of the yield monitoring sensor (3) where it can bedetected in the image data. For example, after the sugar cane crop iscut from the field, it is processed by the chopper (1) before it reachesthe buffer basket (2) (shown in FIG. 1 as “processing delay” d_(p)). Thecrop will then remain in the buffer basket (2) for a period of timeuntil it is drawn from the buffer basket (2) by the elevator 105 (shownin FIG. 1 as “buffer delay” dB). Once removed from the buffer basket(2), the crop must travel a distance along the conveyor of the elevator105 before it reaches the field of view of the yield monitoring sensor(3) (shown in FIG. 1 as “elevator delay” d_(E)). Each of these stagesintroduces a delay component that contributes to the total aggregatedelay between the time that the crop is cut from the field and the timethat the crop is detected by the yield monitoring sensor (3).

Because the sugar cane harvester 101 continues to travel along thesurface of the field as the crop is collected and processed (as shown inFIG. 1), the geospatial location of the sugar cane harvester 101 at thetime when the crop is measured by the yield monitoring sensor (3) is notthe geospatial location from which the measured crop originated. Theproper geospatial attribution of the yield monitor measurements requiresa delay mechanism for correlating a measurement of crop yield to ameasurement of geospatial location. One option for a delay mechanism isto assume an overall static delay adjusted in a time-discrete fashion(i.e., a shift of sampled vectors relative to each other). However, astatic delay model is not able to account for variables including, forexample, buffer effects and relative speed difference between theelevator speed and the ground speed.

Another option is to apply post-processing techniques to match patternsin the geospatial data among adjacent “passes” of the sugar caneharvester along the field surface as the sugar cane harvester movesacross the field in any of a variety of different cuttingpatterns/techniques (including, for example, a racetrack pattern orcutting-from-face (i.e. parallel paths)). Although this may provide someimprovement in precision over a static delay approach, this qualitativeapproach fails to address specific system characteristics as it stillinherently assumes a static delay model and attempts to minimize themean error between adjacent passes. Therefore, although the resultingyield maps may look more uniform (as they filter output deviations andartifacts that might be more easily identifiable by the human eye), theresulting yield maps are not necessarily more accurate than theopen-loop static delay model discussed above.

Yet another option is to model the full system behavior and toexplicitly account for how the different component systems of the sugarcane harvester 101 contribute to the total delay based on the actualcurrent and, in some cases, historic operational states of the sugarcane harvester 101. This approach is able to “decode” the temporalconvolution of signals and to account for a “memory effect” (forexample, due to accumulation of material in the buffer basket (2)) bytracking inputs, outputs, and operating states explicitly.

The examples described below provide for geospatial attribution of theyield monitoring measurements by implementing a robust delay model thatdecomposes the overall delay into its constant and variable componentsthat can be parameterized with a mix of onboard measurements and apriori assumptions determined by detailed engineering knowledge of thesystem. This mathematical model is mapped into a system design that canbe implemented onboard the vehicle (i.e., to provide a “live correction”at the source using embedded processing) or in a remote server (i.e., toprovide “post correction” based on submitted data streams (e.g., in acloud environment)). In some implementations, “live-corrected” yieldmapping data is used by the sugar cane harvester 101 for automated orsemi-automated operational features of the sugar cane harvester 101. Insome implementations, corrected yield mapping data (whetherlive-corrected or post-corrected) can be used for documentation of cropyield.

FIG. 2 illustrates an example of a control system for the sugar caneharvester 101 of FIG. 1. A controller 201 includes an electronicprocessor 203 and a computer-readable, non-transitory memory 205. Thememory 205 is configured to store data (e.g., data received fromsensors, generated yield maps, etc.) and computer-executableinstructions. The electronic processor 203 is communicatively coupled tothe memory 205 and is configured to read and store data to the memory205. The electronic processor 203 is also configured to access andexecute computer instructions stored on the memory 205 to provide thefunctionality of the controller 201 (including the functionalitydescribed herein). The controller 201 can be physically mounted to thesugar cane harvester 101 or, in some implementations, provided as aremotely located computer system or server configured to wirelesslycommunicate with a local controller of the sugar cane harvester 101and/or other individual components of the sugar cane harvester 101. Insome implementations, the functionality of the controller 201 asdescribed herein may be distributed between multiple differentcontrollers including, for example, a local controller and a remotecomputer system (e.g., a remote server computer) in wirelesscommunication with each other.

As illustrated in FIG. 2, the controller 201 is communicatively coupledto a plurality of different sensors including, for example, a groundspeed sensor 207 (configured to measure a ground speed of the sugar caneharvester 101), a chopper pressure sensor 209 (configured to measure apressure exerted by the chopper against a cut crop), a base cutterpressure sensor 211 (configured to measure a pressure exerted by thebase cutter of the sugar cane harvester 101 while cutting crop from thefield), a position sensor 219 (e.g., a GPS system) (configured todetermine a geospatial location of the sugar cane harvester 101), anelevator state sensor 213 (configured to sense or otherwise indicatewhether the elevator 105 is in an on state or an off state), an elevatorspeed sensor 215 (configured to measure a current operating speed of theelevator 105), and a yield monitor sensor 217 (e.g., the stereo camerasystem (3) discussed above in reference to FIG. 1). The controller 201is configured to receive an output signal from each of these sensorsthrough one or more wired or wireless interfaces. In someimplementations, the controller 201 is configured to receive the outputsignal from one or more of the sensor directly and, in someimplementations, the controller 201 is coupled to one or more of thesensors via a controller area network (CAN) bus and is configured toreceive the output signals from the one or more sensors via the CAN bus.

In the example of FIG. 2, the controller 201 is also communicativelycoupled to a display screen 221 (e.g., a liquid crystal display (LCD))positioned either in the cab of the sugar cane harvester 101 orremotely. The controller 201 is configured to cause the display screen221 to output data in text and/or graphical format. For example, thecontroller 201 may be configured to cause the display screen 221 todisplay to the user a numerical indication of a current yield rate, acurrent geospatial location, a current ground speed, and/or a currentelevator speed. In some implementations, the controller 201 may beconfigured to cause the display screen 221 to display a yield map forthe field in graphical format in near real-time. In someimplementations, the controller 201 may be configured to cause thedisplay screen 221 to show a “machine model” that includes, for example,the GPS receiver mounting offset with respect to a front end of theharvester and other information like a user-defined delay adjustment(static and/or fixed).

In the example of FIG. 2, the controller 201 is also communicativecoupled to one or more systems actuators 223. In some implementations,the controller 201 is configured to receive an output signal from one ormore system actuators 223 indicative of a current actuator stateincluding, for example, a current engine speed, current operatingsettings of the elevator, and current operating settings of thecutter/chopper. In some implementations, the controller 201 is alsoconfigured to transmit control signals to the one or more actuators 223to alter or control the operation of the system actuators 223. Forexample, in some implementations, the controller 201 may be configuredto automatically adjust the operation of the elevator, thechopper/cutter, or the power train of the sugar cane harvester 101 basedon the received output signals from the sensors and/or based on thedetermined yield map for the field.

Lastly, the controller 201 in the example of FIG. 2 is communicativelycoupled to a wireless transceiver 225 for wireless communication withone or more other computer-based systems including, for example, aremote server computer.

FIG. 3 illustrates a method for generating a yield map for a field usingthe control system of FIG. 2 by concurrently and periodically monitoringthe crop yield, determining the geospatial location of the sugar caneharvester 101, and determining a total delay component. The total delaycomponent is then used to correlate a determined crop yield value with adetermined geospatial location.

As discussed above, the controller 201 receives image data from theyield monitor sensor 217 indicative of crops passing the yield monitorsensor 217 on the elevator 105 (step 301). Based on the captured imagedata, the controller 201 determines a current “yield” (step 303). Insome implementations, the controller 201 is configured to periodicallydetermine the current yield based on one or more camera images capturedat a single moment in time. In other implementations, the controller 201is configured to determine to determine a yield amount for a definedperiod of time by analyzing a sequence of images captured by the yieldmonitor sensor 217 over the defined period of time. Once a new “current”yield value is determined by the controller 201, the yield value isstored to the memory 205 with a system time-stamp (step 305) asdiscussed in further detail below.

The controller 201 is also configured to periodically determine ageospatial location of the sugar cane harvester 101 based on the outputfrom the GPS (step 307). The determined geospatial location is alsostored to the memory 205 with a system time-stamp (step 309).

The controller 201 is also configured to periodically determine a totaldelay. The controller 201 receives sensor data from one or more sensors(step 311) and calculates a “delay component” for each of a plurality ofdifferent machine segments (or sub-systems) (step 313) including, forexample, a chopper delay component, a buffer basket delay component, andan elevator delay component. The total delay is calculated by thecontroller 201 as a sum of the different delay component (step 315).After the total delay is calculated, the controller 201 uses the totaldelay to correlate a “yield” value to a geospatial location (step 317)and the output yield map is updated based on the correlation.

The method of FIG. 3 is repeated to generate a yield map that includes adetermined yield value for each of a plurality of different geospatiallocations. In some implementations, the yield map is generated as a“spreadsheet”-type format including a listing of geospatial locationsand a corresponding yield value for each geospatial location. The yieldmap may then be displayed (e.g., on the display 221) either textually(as a listing of yield values for each geospatial location) orgraphically (e.g., using color-coding to indicate different yield valuesfor each different geospatial location on a two- or three-dimensionalrepresentation of the field surface).

In some implementations, the controller 201 is configured to store allof the determined yield values, geospatial locations, and total delayvalues for the entire field surface. In other implementations (asdiscussed in further detail below), the controller 201 is configured toutilize a set of circular arrays that are each configured to store adefined number of determined values such that when a new value isdetermined and stored to the circular array, the oldest determined valuein the array is overwritten by the newly determined value. In stillother implementations, the controller 201 may be configured to notstore/track determined values for all three of the yield values,geospatial values, and total delay values. For example, the controller201 may be configured to temporarily store multiple determinedgeospatial location values and, each time a new yield value and totaldelay value is determined, the new yield value is matched to one of thepreviously stored geospatial location values. When a geospatial locationvalue is matched to a yield value and added to the yield map, thatgeospatial location value and any previously determined geospatiallocation values are removed from the temporarily stored set ofgeospatial location values (so that the temporary stored includes onlygeospatial location values that might still be matched to a yieldvalue).

In some implementations, the yield value, the geospatial location, andthe total delay are calculated at the same sampling times based on thesame sampling frequency. In other implementations, the yield value, thegeospatial location, and/or the total delay may be determined atdifferent sampling frequencies. In some such implementations, thosedifferent sampling frequencies can be defined statically while, in othersuch implementations, the sampling frequencies may be adjusteddynamically to ensure that yield values are determined for eachdetermined geospatial location (or vice versa). For example, if thedetermined delay time begins to decrease, the controller 201 may beconfigured to increase the sampling frequency of the yield monitor toensure that yield values are available for each determined geospatiallocation as the delay/offset between those two determined valuesdecreases.

In some implementations, the controller 201 is configured to generatethe yield map by matching a plurality of geospatial locations each withonly a single yield value in a one-to-one manner. In otherimplementations, the controller 201 is configured to determine a yieldvalue for each individual geospatial location based on multipledetermined yield values and/or to determine yield values for multipledifferent geospatial locations based on only a single determined yieldvalue. For example, if the determined delay value increases, multipledifferent determined yield values might correlate to the same geospatiallocation. Accordingly, the controller 201 may be configured to determinean actual yield value for the geospatial location in the yield map basedon a sum and/or average of all of the different yield values thatcorrelate to that same geospatial location. Similarly, as the delayvalue decreases, there may be situations where one or more determinedgeospatial locations have no correlated yield value. Accordingly, thecontroller 201 may be configured to determine a yield value for thegeospatial location in the yield map based on one or more determinedyield values that have been correlated to adjacent geospatial locations.

In some implementations, the total delay is calculated as a decimalvalue indicative of an actual time delay from the time that the sugarcane harvester 101 was located at a particular geospatial location tothe time when the crop cut from the field at that particular geospatiallocation is within the field of view of the yield monitor 217. In somesuch implementations, the controller 201 is then configured to correlatea geospatial location value to a yield value by identifying a geospatiallocation value and a yield value with timestamps that most closely matchwhen offset by the determined time delay. However, in otherimplementations, the total delay time (and each delay component) aredetermined as integer offsets based on the sampling frequency.

FIG. 4 illustrates a specific example for generating a yield map usingthe method of FIG. 3. In this example, the controller 201 performs datasampling (step 401) to periodically determine the yield value, thegeospatial location, and the total delay according to a single samplingfrequency such that, at each sampling interval time, all three valuesare determined. At each sampling interval, the controller 201 reads thecurrent system time (step 403) to map a time-stamp to each determinedvalue (step 405). The output of this time-stamp mapping 405 is a set ofcircular buffers 407, 409, 411. Each circular buffer is provided as anarray of a defined length. Circular buffer 407 is a 2×n array configuredto store n determined values and a time-stamp for each, circular buffer409 is a 2×m array configured to store m determined values and timestamp for each, and circular buffer 411 is a 2×z array configured tostore z determined values and a time stamp for each. Each time a newvalue is determined (based on the applicable sampling frequency), it isstored to the corresponding circular buffer 407, 409, 411 as a timesequence overwriting the oldest determined value currently stored inthat circular buffer.

Although the example of FIG. 4 shows three different circular buffers,other implementations may include more or fewer. Furthermore, in someimplementations, the array length of two or more of the circular buffersmay be the same. For example, array length n of circular buffer 407 maybe the same as the array length m of circular buffer 409. In someimplementations, all of the circular buffers may have the same arraylength. Also, although the circular buffers 407, 409, 411 of FIG. 4 aredescribed as having a defined length, in some implementations, thecircular buffers 407, 409, 411 can be replaced with arrays that arelarge enough to store all of the determined values for the entire fieldor, in still other implementations, may include arrays of indefinitelength such that that size of the array is increased as each newdetermined value is added at each subsequent sampling interval.Furthermore, although the example of FIG. 4 illustrates each circularbuffer as including a sequential data set for only a single data value,in some implementations, the system is configured to treat individual“buffers” as “delay groups” that store multiple sensed/measured valuesas each time-step in the sequential data set where all of the values ina single “delay group” would require the same delay adjustment. Thus, asdescribed below, the delay offset for the entire “delay group” could bedetermined by calculating a single delay value instead of separatelycalculating delay values for each individual sensed/measured value.

To generate/update the yield map, data is read from each circularbuffers (step 413) by applying a data offset to each circular bufferbased, for example, on the determined delay value and, in someimplementations, system configuration data stored to the memory 205 inone or more configuration files 415.

In a specific example, the controller 201 may be configured to store atime series of determined “yield values” in the first circular buffer407 and to store a time series of determined geospatial location valuesin the second circular buffer 409. The controller 201 is also configuredto store time series of various different sensor outputs to otheradditional circular buffers. The controller 201 is then configured toidentify a pair of values (i.e., one yield value and one geospatiallocation value) that correlate to each other by determining a pointeroffset indicative of the total delay time. In this example, thecontroller 201 may be configured to identify a “yield value” in thefirst circular buffer 407 by setting a pointer to a location in thefirst circular buffer 407 (i.e., Pointer “n”) based on a particular timestamp. The controller 201 would then determine an offset indicative ofthe total delay time based on the other sensor output values stored tothe additional circular buffers and data stored in the systemconfiguration files 415. For example, in FIG. 4, the integer offsetdetermined by the controller 201 indicative of the total delay time forthe yield value in the location of Pointer “n” was two (“2”) (i.e., 2×the sampling interval defined by the sampling frequency). Accordingly,the location of Pointer “m” is offset from the location of Pointer “n”by two positions in the arrays.

As mentioned above and as described in further detail below, for somedelay components of the total delay value are based on a single value ofone or more sensor outputs while some other delay components aredetermined based on additional historical sensor output data.Accordingly, in some implementations, the controller 201 is furtherconfigured to determine appropriate pointer locations to the othercircular buffers to identify data stored in those additional circularbuffers that will be used to determine the “total delay” value (i.e.,the offset between Pointer “n” and Pointer “m”).

Furthermore, in some implementations, the controller 201 may be furtherconfigured to determine other output values in addition to the “yieldvalue.” In some such implementations, the controller 201 may beconfigured to store these additional determined values as time sequencedata sets in one or more additional circular buffers. These additionaldetermined values can then be correlated to geospatial location valuesby determining an applicable offset based on the sensor data. In someimplementations, the offset for the additional determined value may bethe same as the offset for the “yield value.” However, in otherimplementations, the total delay time between the time when the sugarcane harvester 101 was located at the geospatial location and the timethat the additional value was sensed may be different from the totaldelay time for the yield monitor sensor. Accordingly, in someimplementations, the controller 201 may be configured to calculatedifferent delay values for each of these different time sequences ofdetermined values.

In the example described above in reference to FIG. 4, the controller201 is configured to store sensor values and system operating statevalues to the circular buffers and to calculate the offset indicative ofthe total delay time based on the store data during the “data read” step413. However, in some implementations, the controller 201 may beconfigured to calculate the offset indicative of the total delay at thesame sampling frequency as the determined geospatial location and thedetermined yield amount and, therefore, may be configured to store thedetermined delay values as a time sequence data set in one of thecircular buffers and to then access the stored delay values from thecircular buffer when correlating a yield value with a geospatiallocation value.

Accordingly, by storing the geospatial location values, the yieldvalues, other values indicative of sensed operating conditions of thesugar cane harvester 101, and/or determined total delay values asmultiple different time sequence data sets, the task of correlating ayield value to a geospatial location value is accomplished via pointermanagement performed by the controller 201 and can be performed eitherin real-time as the crop is being harvested or by post-processing (forexample, after the entire field has been harvested).

As noted above, the controller 201 is configured to determine a totaldelay time for each sampling interval as a sum of different delaycomponents each corresponding to different physical components orsub-systems of the sugar cane harvester 101 through which the croppasses before being presented to the yield monitor sensor 217. For eachsegment, a behavior model is derived that approximates the physicalprocess in order to calculate the delay component based on currentmeasured values, historic measured values, and/or system configurationinformation. Accordingly, each different delay components generallyfalls into one of three categories: (1) constant delay (in which thedelay component is constant in all situations and does not change basedon the operation of the harvester 101), (2) variable delay (in which thedelay component changes due to parameters that can be measured on theharvester 101), and (3) memory-based dynamic delay (in which the delaycomponent is dependent on a series of historical states and operatingconditions of the harvester 101).

One example of constant delay is the sensor processing delay indicativeof the amount of time required for the controller 201 to receive ordetermine a value of a sensed condition (e.g., the yield value) afterthe condition is actual impacts the respective sensor. In someimplementations, the crop processing delay component (i.e., the amountof time from when the crop is cut from the field to when the cut cropreaches the buffer basket) is also a constant delay based on systemconfiguration; however, in other implementations, the crop processingdelay component may be influenced by the ground speed of the sugar caneharvester 101. Because constant delay components and variable delaycomponents can both be determined based on a system configuration fileand/or the current value of one or more sensed operating conditions),both of these types of delay components are referred to herein as“static delay components.”

In contrast, “dynamic” delay components are determined based on a seriesof historical states and operating conditions of the harvester 101(e.g., historical data stored in one of the additional circular buffersin the example of FIG. 4). Examples of dynamic delay components includea buffer basket delay indicative of an amount of time that a cropremained in the buffer basket before it was drawn from the buffer basketby the elevator and an elevator delay indicative of the amount of timethat the crop remained on the elevator before it reaches the field ofview of the yield monitor sensor.

FIG. 5 illustrates an example of a method for determining a total delayamount including both static and dynamic delay components (e.g.,corresponding to steps 311, 313, and 315 in the method of FIG. 3).First, the controller 201 determines the static delay adjustment (step501) based, for example, on system configuration files 503. Thecontroller 201 then determines a dynamic delay adjustment (step 505)based on a determined buffer delay component value (“Buffer Delay [i]”)and a determined elevator delay component value (“Elevator Delay [j]”).In this example, the buffer delay component value (“Buffer Delay [i]”)is a value selected from a time sequence data set of buffer delaycomponents (at Pointer “i”) and the elevator delay component value(“Elevator Delay [j]”) is similarly a value selected from a timesequence data set of elevator delay components (at Pointer “j”).

The controller 201 calculates a plurality of values in a time sequencedata set of elevator delay component values based at least in part on asequence of sensed elevator speed values and a sequence of elevatorstate values. For example, the crop must travel on the elevator for adefined distance from the buffer basket before it is within the field ofview of the yield monitor sensor 217. Accordingly, each elevator delaycomponent value is influence, not only by the elevator speed at the timewhen the crop is measured by the yield monitor sensor 217, but also bythe elevator speed (and changes in the elevator speed) at earlier timeswhile the crop was travelling on the elevator. For example, if theelevator is configured to operate at a constant speed, but can be turnedon-and-off in order to regulate the rate at which crop is drawn from thebuffer basket to the collection vessel, then each elevator delay timecan be calculated by the equation:

$\begin{matrix}{d_{E} = {\Delta + \frac{S}{V_{E}}}} & (1)\end{matrix}$Where s is the distance on the elevator between the buffer basket andthe location of the yield monitoring sensor 217, v_(E) is the constantspeed of the elevator, and Δ is the amount of time that the elevator wasin the “off” state while the crop currently in the field of view wouldhave been on the elevator.

However, the buffer delay component is influenced both by historicalchanges to the rate at which material enters the buffer basket andhistorical changes to the rate at which material is pulled from thebuffer basket by the elevator. Accordingly, the controller 201 firstcalculates an estimated buffer change (step 507) indicative of materialentering the buffer basket based on data from the system configurationfiles 503, a sequence of values indicator of the harvest state (i.e.,whether the sugar cane harvester 101 was operating at each of aplurality of sampling interval times (“Harvest State [0-1]”), and anestimated mass flow (“Mass Flow (Rel.)”). In some implementations, theestimated mass flow is indicative of a rate at which material isentering the buffer basket and is determined based, at least in part, onthe sensed ground speed of the sugar cane harvester 101, the sensedchopper pressure, and the sensed base cutter pressure. One example ofsuch a method for estimating the mass flow is described in U.S. patentapplication Ser. No. 16/560,465, filed Sep. 4, 2019, entitled“INFORMATION INFERENCE FOR AGRONOMIC DATA GENERATION IN SUGARCANEAPPLICATIONS,” the entire contents of which are incorporated herein byreference. The controller 201 then applies a buffer delay logic (step509) to determine the buffer delay component at each of a plurality ofdifferent times based on the output of the buffer change estimator andother status history information 511 (including the status history ofthe elevator operation).

Again, the elevator delay component influences the buffer basket delaycomponent. Therefore, it may not be sufficient to determine the dynamicdelay adjustment by summing the current elevator delay component valueand the current buffer basket delay component. Instead, to moreaccurately model the total delay time, the controller 201 is configuredto determine the dynamic delay adjustment by identifying a previousbuffer basket delay component value (i.e., “Buffer Delay [i]”) from thetime sequence data set of buffer basket delay component values based ona current elevator delay component value (i.e., offsetting a Pointer forthe “Buffer Delay” based on the current elevator delay component value)and then adding the current elevator delay component value (i.e.,“Elevator Delay [j]”) with the offset buffer basket delay componentvalue (i.e., “Buffer Delay [i]”).

The total delay time is then determined and output (step 515) by summingthe total dynamic delay adjustment and the total static delayadjustment. In some implementations, both the dynamic delay adjustment(step 505) and the final data read offset (step 413, FIG. 4) areperformed as part of the overall “pointer management” routine. Forexample, the controller 201 may be configured to store the time sequencedata sets for the buffer basket delay component values and for theelevator delay component values as additional circular buffers in theexample of FIG. 4 and the appropriate offset for the Buffer Basket delaycomponent value is determined based on a current elevator delaycomponent value as part of the process for determining the offsetbetween the pointer for the yield values (Pointer “n”) and the pointerfor the geospatial location values (Pointer “m”).

Although the examples described above particularly reference a sugarcane harvester 101, the methods and systems for managing and trackingdelay components for use in generating a yield map can be extend toother types of crop harvesters. Furthermore, although these specificexamples primarily discuss mapping crop yield values (as detected on theelevator) to geospatial locations, the methods and systems describedherein can also be applied and/or extended to methods for tracking othervariables at other locations on the harvester (for example, trackingcrop “loss” based at least in part on changes in a fan speed).

What is claimed is:
 1. A method of correcting a correlation between ageospatial location of a crop harvester and a determined yield ratevalue, the method comprising: determining, by an electronic processor, asequence of delay values, wherein each delay value of the sequence ofdelay values is indicative of a total time delay from a time that a cropis cut from a field as a harvester moves across the field to a time thatthe crop reaches the field of view of a yield monitoring sensor, whereindetermining each delay value of the sequence of delay values includesdetermining one or more static delay components indicative of portionsof the total time delay that are constant or that can be determinedbased on instantaneous measured outputs of one or more sensors,determining one or more dynamic delay components indicative of portionsof the total time delay that are dependent on historical operatingconditions of one or more components of the harvester, whereindetermining the one or more dynamic delay components includesdetermining the one or more dynamic delay components based at least inpart on the historical operating conditions of the one or morecomponents of the harvester, and determining the total delay time basedat least in part on the one or more determined static delay componentsand the one or more determined dynamic delay components; andcorrelating, based on a determined delay value of the sequence ofdetermined delay values, a determined crop yield value from a firststored data set indicative of a plurality of determined crop yieldvalues to a determined geospatial location from a second stored data setindicative of a plurality of determined geospatial locations.
 2. Themethod of claim 1, wherein determining the total delay time includesdetermining the total delay time as an integer multiple of a samplingfrequency, and wherein correlating the determined crop yield value tothe determined geospatial location includes selecting a first geospatiallocation from the first data set using a first pointer offset definedbased on a first system time, wherein the first data set includes asequential data set of geospatial locations each determined at thesampling frequency, and selecting a first crop yield value from thesecond data set to correlate to the first geospatial location using asecond pointer offset defined based on the first system time and theinteger multiple of the total delay time, wherein the second data setincludes a sequential data set of crop yield values each determined atthe sampling frequency.
 3. A method of correcting a correlation betweena geospatial location of a crop harvester and a determined yield ratevalue, wherein the crop harvester includes a chopper positioned at afront end of the sugar cane harvester configured to cut a sugar canecrop as the sugar cane harvester moves across a field and to chop thecut sugar cane crop, a buffer basket configured to receive the choppedsugar cane crop from the chopper, and an elevator configured to conveythe chopped sugar cane crop from the buffer basket to a collectionvessel, wherein the yield monitoring sensor is configured to generate anoutput indicative of an amount of chopped crop conveyed on the elevator,the method comprising: determining, by an electronic processor, asequence of delay values, wherein each delay value of the sequence ofdelay values is indicative of a total time delay from a time that a cropis cut from a field as a harvester moves across the field to a time thatthe crop reaches the field of view of a yield monitoring sensor, whereindetermining each delay value of the sequence of delay values includesdetermining one or more static delay components indicative of portionsof the total time delay that are constant or that can be determinedbased on instantaneous measured outputs of one or more sensors,determining one or more dynamic delay components indicative of portionsof the total time delay that are dependent on historical operatingconditions of one or more components of the harvester, and determiningthe total delay time based at least in part on the one or moredetermined static delay components and the one or more determineddynamic delay components; and correlating, based on a determined delayvalue of the sequence of determined delay values, a determined cropyield value from a first stored data set indicative of a plurality ofdetermined crop yield values to a determined geospatial location from asecond stored data set indicative of a plurality of determinedgeospatial locations, wherein determining the one or more static delaycomponents includes determining a chopper delay indicative of a timedelay from the time that the crop is cut to a time that the crop reachesthe buffer basket, wherein determining the one or more dynamic delaycomponents includes determining a buffer basket delay indicative of atime delay from the time that the crop reaches the buffer basket to atime that the crop is removed from the buffer basket by the elevator,and wherein determining the buffer basket delay includes determining abuffer basket delay based at least in part on a current operating stateof the elevator and a previous operating state of the elevator.
 4. Themethod of claim 3, wherein determining the chopper delay includesdetermining the chopper delay based at least in part on a sensed groundspeed of the harvester.
 5. The method of claim 3, further comprisingdetermining an estimated mass flow of crop based at least in part on asensed ground speed of the harvester, a sensed chopper pressure, and asensed base cutter pressure, wherein the sensed base cutter pressure isindicative of a pressure resistance of the chopper while cutting thecrop in the field, wherein the sensed chopper pressure is indicative ofa pressure resistance of the chopper while chopping the cut crop, andwherein determining the buffer basket delay includes determining thebuffer basket delay based at least in part on the estimated mass flow,the current operating state of the elevator, and a previous operatingstate of the elevator.
 6. The method of claim 3, wherein determining theone or more dynamic delay components further includes determining anelevator delay indicative of a time delay from the time that the crop isremoved from the buffer basket by the elevator to a time that the cropreaches the field of view of the yield monitoring sensor, and whereindetermining the elevator delay includes determining the elevator delaybased at least in part on a current operating speed of the elevator anda previous operating state of the elevator.
 7. A geospatial yieldmapping system for a sugar cane harvester, the sugar cane harvesterincluding a chopper positioned at a front end of the sugar caneharvester configured to cut a sugar cane crop as the sugar caneharvester moves across a field and to chop the cut sugar cane crop, abuffer basket configured to receive the chopped sugar cane crop from thechopper, and an elevator configured to convey the chopped sugar canecrop from the buffer basket to a collection vessel, the geospatial yieldmapping system comprising: a positioning system configured to determinea geospatial location of the sugar cane harvester; a yield monitoringsensor configured to generate an output indicative of an amount ofchopped sugar cane crop conveyed on the elevator; and an electroniccontroller configured to: determine a geospatial location of the sugarcane harvester and store to a memory a first data set defining aplurality of determined geospatial locations, determine a sugar caneoutput value based on the output of the yield monitoring sensor andstore to the memory a second data set defining a plurality of determinedsugar cane output values, determine a sequence of delay values, whereineach delay value of the sequence of delay values is indicative of atotal time delay from a time that the sugar cane crop is cut to a timethat the sugar cane crop reaches the field of view of the yieldmonitoring sensor, wherein the electronic controller is configured todetermine each delay value of the sequence of delay values bydetermining one or more static delay components indicative of portionsof the total time delay that are constant or that can be determinedbased on instantaneous measured outputs of one or more sensors, whereinthe one or more static delay components include a chopper delayindicative of a time delay from the time that the sugar cane crop is cutto a time that the sugar cane crop reaches the buffer basket,determining one or more dynamic delay components indicative of portionsof the total time delay that are dependent on historical operatingconditions of one or more components of the sugar cane harvester,wherein the one or more dynamic delay components include a buffer basketdelay indicative of a time delay from the time that the sugar cane cropreaches the buffer basket to a time that the sugar cane crop is removedfrom the buffer basket by the elevator, wherein the buffer basket delayis determined based at least in part on a current operating state of theelevator and a previous operating state of the elevator, and determiningthe total delay time based at least in part on the one or moredetermined static delay components and the one or more determineddynamic delay components, and correlate a determined sugar cane outputvalues to a determined geospatial location based on a determined delayvalue.
 8. The system of claim 7, wherein the electronic controller isconfigured to determine the chopper delay based at least in part on asensed ground speed of the sugar cane harvester.
 9. The system of claim7, wherein the electronic controller is further configured to determinean estimated mass flow of sugar cane crop based at least in part on asensed ground speed of the sugar cane harvester, a sensed chopperpressure, and a sensed base cutter pressure, wherein the sensed basecutter pressure is indicative of a pressure resistance of the chopperwhile cutting the sugar cane crop in the field, wherein the sensedchopper pressure is indicative of a pressure resistance of the chopperwhile chopping the cut sugar cane crop, and wherein the electroniccontroller is configured to determine the buffer basket delay based atleast in part on the estimated mass flow, the current operating state ofthe elevator, and a previous operating state of the elevator.
 10. Thesystem of claim 7, wherein the one or more dynamic delay componentsfurther includes an elevator delay indicative of a time delay from thetime that the sugar cane crop is removed from the buffer basket by theelevator to a time that the sugar cane crop reaches the field of view ofthe yield monitoring sensor, wherein the elevator delay is determinedbased at least in part on a current operating speed of the elevator anda previous operating state of the elevator.
 11. The system of claim 7,wherein the electronic controller is configured to determine the totaldelay time as an integer multiple of the second sampling frequency, andwherein the electronic controller is configured to correlate one or moredetermined sugar cane output values each to a different one of theplurality of determined geospatial locations by selecting a firstgeospatial location from the first sequential data set using a firstpointer offset defined based on a first system time, and selecting afirst sugar cane output value from the second sequential data set tocorrelate to the first geospatial location using a second pointer offsetdefined based on the first system time and the integer multiple of thetotal delay time.